A Fail-Operational Control Architecture Approach and Dead-Reckoning Strategy in Case of Positioning Failures

• Published in: Sensors (Basel, Switzerland) Vol. 20; no. 2; p. 442
• Main Authors: Matute-Peaspan, Jose Angel, Perez, Joshue, Zubizarreta, Asier
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 13.01.2020; MDPI
• Subjects: Accuracy; automated driving; Automation; Dead reckoning; fail-operational systems; Failure; fall-back strategy; Global positioning systems; GPS; Interfaces; Lane keeping; Localization; Motion control; Roads & highways; Sensors; Software reliability; Strategy; Trajectory planning; Vehicles; automated driving; fail-operational systems; fall-back strategy
• ISSN: 1424-8220; 1424-8220
• DOI: 10.3390/s20020442

Presently, in the event of a failure in Automated Driving Systems, control architectures rely on hardware redundancies over software solutions to assure reliability or wait for human interaction in takeover requests to achieve a minimal risk condition. As user confidence and final acceptance of this novel technology are strongly related to enabling safe states, automated fall-back strategies must be assured as a response to failures while the system is performing a dynamic driving task. In this work, a fail-operational control architecture approach and dead-reckoning strategy in case of positioning failures are developed and presented. A fail-operational system is capable of detecting failures in the last available positioning source, warning the decision stage to set up a fall-back strategy and planning a new trajectory in real time. The surrounding objects and road borders are considered during the vehicle motion control after failure, to avoid collisions and lane-keeping purposes. A case study based on a realistic urban scenario is simulated for testing and system verification. It shows that the proposed approach always bears in mind both the passenger's safety and comfort during the fall-back maneuvering execution.